Biomechanics

• Zweifel NO, Bush NE, Abraham I, Murphey TD, and Hartmann, MJZ (2021). A dynamical model for generating synthetic data to active tactile behavior in the ratProceedings of the National Academy of Sciences , 118(27), 10.1073/pnas.2011905118
• Luo Y, Bresee CS, Rudnicki JW, and Hartmann, MJZ (2021). Constraints on the deformation of the vibrissa within the follicle PLoS Computational Biology, 17(4). 10.1371/journal.pcbi.1007887
• Yang, A. E. T., Belli, H. M., and Hartmann, M. J. (2019). Quantification of vibrissal mechanical properties across the rat mystacial pad. Journal of neurophysiology , 121(5), 1879-1895.
• Belli HM, Yang AET, Bresee CS, and Hartmann MJZ (2017) Variations in vibrissal geometry across the rat mystacial pad: base diameter, medulla, and taper. Journal of Neurophysiology. 117:1807-1820 doi: 10.1152/jn.00054.2016 PMCID: PMC5390285 PDF SD
• Yang AET and Hartmann MJZ (2016) Whisking kinematics enables object localization in head-centered coordinates based on tactile information from a single vibrissa. Frontiers in Behavioral Neuroscience 10:145. doi: 10.3389/fnbeh.2016.00145 PMCID: PMC4949211 PDF
• Huet LA and Hartmann MJZ (2016) Simulations of a vibrissa slipping along a straight edge and an analysis of frictional effects during whisking. IEEE Transactions on Haptics 9(2):158-169 doi: 10.1109/TOH.2016.2522432 PMCID: PMC5753595 PDF SV1 SV2 SV3
• Huet LA, Schroeder CL, and Hartmann MJZ (2015) Tactile signals transmitted by the vibrissa during active whisking behavior. Journal of Neurophysiology 113:3511-3518. PDF SV1
• Quist BW, Seghete V, Huet LA, Murphey TD, and Hartmann MJZ (2014) Modeling forces and moments at the base of a rat vibrissa during noncontact whisking and whisking against an object. Journal of Neuroscience 34:9828-9844. PDF
• Quist BW, Faruqi RA and Hartmann MJZ (2011) Variation in Young's modulus along the length of a rat vibrissa. Journal of Biomechanics 44:2775 - 2781. PDF
• Solomon JH and Hartmann MJZ (2011) Radial distance determination in the rat vibrissal system and the effects of Weber's law. Philosophical Transactions of the Royal Society B-Biological Sciences 366:3049-3057. PDF
• Quist BW and Hartmann MJZ (2008) A two-dimensional force sensor in the millinewton range for measuring vibrissal contacts. Journal of Neuroscience Methods 172:158-167. PDF
• Birdwell JA, Solomon JH, Thajchayapong M, Taylor MA, Cheely M, Towal RB, Conradt J and Hartmann MJZ (2007) Biomechanical models for radial distance determination by the rat vibrissal system. Journal of Neurophysiology 98:2439-2455. PDF. N.B.: Due to a typesetting error, equation A14 is incorrect as published. It should be identical to the bottom half of equation 4 in the main text.
• Reed K, Peshkin M, Hartmann M, Colgate J and Patton J (2005) Kinesthetic interaction. 2005 IEEE 9th International Conference on Rehabilitation Robotics , Chicago, IL 569-574. PDF
• Hartmann M, Johnson N, Towal R and Assad C (2003) Mechanical characteristics of rat vibrissae: Resonant frequencies and damping in isolated whiskers and in the awake behaving animal. Journal of Neuroscience 23:6510-6519. PDF
• Quist BW and Hartmann MJ (2012) Mechanical signals at the base of a rat vibrissa: the effect of intrinsic vibrissa curvature and implications for tactile exploration. Journal of Neurophysiology 107:2298-2312. PDF

Neuroscience

• Bush NE, Solla SA, and Hartmann, MJZ (2021). Continuous, multidimensional coding of 3D complex tactile stimuli by primary sensory neurons of the vibrissal system Proceedings of the National Academy of Sciences , 118(32), 10.1073/pnas.2020194118
• Furuta, T. Bush, N. E., Yang, A.E.T., Ebara S, Miyazaki N., Murata K., Hirai D., Shibata K, and Hartmann, M. J. (2020). The Cellular and Mechanical Basis for Response Characteristics of Identified Primary Afferents in the Rat Vibrissal System. Current Biology, 30(5), 815-
• Yan, S. W., Bush, N. E., andHartmann, M. J. (2019). Whisker vibrations and the activity of trigeminal primary afferents in response to airflow. Journal of Neuroscience, 39(30), 5881-5896.
• Zhuang C, Kubilius J, Hartman MJZ, Yamins D (2017) Toward Goal-Driven Neural Network Models for the Rodent Whisker-Trigeminal System. Conference on Neural Information Processing Systems 2552-2562
• Abraham IA, Prabhakar A, Hartmann MJZ, Murphey TD (2017) Ergodic Exploration using Binary Sensing for Non-Parametric Shape Estimation. IEEE Robotics and Automation Letters 2(2):827-834 doi: 10.1109/LRA.2017.2654542 PDF SV
• Bush NE, Schroeder CL, Hobbs JA, Yang AET, Huet LA, Solla SA, and Hartmann MJZ (2016) Decoupling kinematics and mechanics reveals coding properties of trigeminal ganglion neurons in the rat vibrissal system. eLife 5:e13969 doi: 10.7554/eLife.13969 PMCID: PMC4999311 PDF
• Kaloti AS, Johnson EC, Bresee CS, Naufel SN, Perich MG, Jones DL, and Hartmann MJZ (2016) Representation of stimulus speed and direction in vibrissal-sensitive regions of the trigeminal nuclei: a comparison of single unit and population responses. PLoS ONE 11(7):e0158399 doi: 10.1371/journal.pone.0158399 PMCID: PMC4963183 PDF
• Solomon JH and Hartmann MJZ (2011) Radial distance determination in the rat vibrissal system and the effects of Weber's law. Philosophical Transactions of the Royal Society B-Biological Sciences 366:3049-3057. PDF
• Quist BW and Hartmann MJZ (2008) A two-dimensional force sensor in the millinewton range for measuring vibrissal contacts. Journal of Neuroscience Methods 172:158-167. PDF
• Lu H, Hartmann M and Bower J (2005) Correlations between Purkinje cell single-unit activity and simultaneously recorded field potentials in the immediately underlying granule cell layer. Journal of Neurophysiology 94:1849-1860. PDF
• Hartmann M and Bower J (2001) Tactile responses in the granule cell layer of cerebellar folium Crus IIa of freely behaving rats. Journal of Neuroscience 21:3549-3563. PDF

Robotics

• Kent TA, Kim S, Kornilowicz G, Yuan WZ, Hartmann, MJZ and Bergbreiter S (2021). WhiskSight: A Reconfigurable, Vision-Based, Optical Whisker Sensing Array for Simultaneous Contact, Airflow, and Inertia Stimulus Detection IEEE Robotics and Automation Letters, 6(2), 3357-3364
• Collinson, DW, Emnett, HM, Hartmann, M. J.Z., and Brinson LC (2020). Tapered Polymer Whiskers to Enable Three-Dimensional Tactile Feature Extraction. Soft Robotics, 8(1). 44- 58
• Yang AET, Hartmann MJZ, and Bergbreiter S (2018) Contact-resistive sensing of touch and airflow using a rat whisker. 7th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics. August 26-29, 2018. Enschede, The Netherlands
• Emnett HM, Graff MM, and Hartmann MJZ (2018) A Novel Whisker Sensor Used for 3D Contact Point Determination and Contour Extraction. Proceedings of Robotics: Science and Systems. June 2018. Pittsburgh, Pennsylvania. doi:110.15607/RSS.2018.XIV.059 PDF
• Huet LA, Rudnicki JW, Hartmann MJZ (2017) Tactile sensing with whiskers of various shapes: Determining the three-dimensional location of object contact based on mechanical signals at the whisker base. Soft Robotics 4(2):88-102 doi: 10.1089/soro.2016.0028 PMCID: PMC5467137 PDF
• Solomon JH, Locascio MA, and Hartmann MJZ (2013) Linear reactive control for efficient 2D and 3D bipedal walking over rough terrain. Adaptive Behavior 21:29-46. PDF
• Schroeder CL and Hartmann MJZ (2012) Sensory prediction on a whiskered robot: A tactile analogy to "optic flow". Frontiers in Neurorobotics 6:9. doi: 10.3389/fnbot.2012.00009. PDF
• Locascio MA, Solomon JH and Hartmann MJZ (2012) Linear reactive control of three-dimensional bipedal walking in the presence of noise and uncertainty. Adaptive Behavior 20:409-426. PDF SV_All SV1 SV2 SV3 SV4 SV5 SV6
• Solomon JH and Hartmann MJZ (2010) Extracting object contours with the sweep of a robotic whisker using torque information. International Journal of Robotics Research 29:1233-1245. PDF
• Solomon JH, Wisse M and Hartmann MJZ (2010) Fully interconnected, linear control for limit cycle walking. Adaptive Behavior 18:492-506. PDF
• Solomon JH and Hartmann MJ (2006) Robotic whiskers used to sense features. Nature 443:525. PDF SI1 SV1

Facial and whisker morphology

• Graff MM, Belli HM, Wieskotten S, Krüger Y, Dehnhardt G, and Hartmann MJZ (preprint, 2023) Three-dimensional morphology of the vibrissal array of the harbor seal (Phoca vitulina). bioRxiv https://doi.org/10.1101/2024.01.15.575743
• CS Bresee, HM Belli, Y Luo, MJZ Hartmann Comparative morphology of the whiskers and faces of mouse and rat (Mus musculus and Rattus norvegicus) Journal of Experimental Biology. Link to
• Luo Y, Hartmann MJZ (2023) On the intrinsic curvature of animal whiskers PLoS One 18: e0269210
• Belli HM, Bresee CS, Graff MM, and Hartmann MJZ (2018) Quantifying the three-dimensional facial morphology of the laboratory rat with a focus on the vibrissae. PLoS ONE. 13(4):e0194981. PMCID: PMC5886528 PDF
• Belli HM, Yang AET, Bresee CS, and Hartmann MJZ (2017) Variations in vibrissal geometry across the rat mystacial pad: base diameter, medulla, and taper. Journal of Neurophysiology. 117:1807-1820 doi: 10.1152/jn.00054.2016 PMCID: PMC5390285 PDF SD
• Yang, A. E. T., Belli, H. M., and Hartmann, M. J. (2019). Quantification of vibrissal mechanical properties across the rat mystacial pad. Journal of neurophysiology , 121(5), 1879-1895.
• Towal RB, Quist BW, Gopal V, Solomon JH and Hartmann MJZ (2011) The morphology of the rat vibrissal array: a model for quantifying spatiotemporal patterns of whisker-object contact. PLoS Computational Biology 7:e1001120. PDF SD1 SI1 SF1 SF2 ST1 ST2

Reviews

• Zweifel N.O. and Hartmann, M. J. Z. (2020). Defining "active sensing" through an analysis of sensing energetics: homeoactive and alloactive sensingJournal of Neurophysiology , 124(1), 40-48.
• Chiel HJ, Ting LH, Ekeberg O and Hartmann MJZ (2009) The brain in its body: motor control and sensing in a biomechanical context. Journal of Neuroscience 29:12807-12814. PDF
• Hartmann MJZ (2009) Active touch, exploratory movements, and sensory prediction. Integrative and Comparative Biology 49:681-690. PDF
• Gopal V and Hartmann MJZ (2007) Using hardware models to quantify sensory data acquisition across the rat vibrissal array. Bioinspiration & Biomimetics 2:S135-S145. PDF
• Assad C, Hartmann M and Lewis M (2001) Introduction to the special issue on biomorphic robotics. Autonomous Robots 11:195-200. PDF
• Hartmann M (2001) Active sensing capabilities of the rat whisker system. Autonomous Robots 11:249-254. PDF
• Hartmann MJZ (2011) A night in the life of a rat: vibrissal mechanics and tactile exploration. Annals of the New York Academy of Sciences 1225:110-118. PDF
• Bush NE, Solla SA, and Hartmann MJZ (2016) Whisking mechanics and active sensing. Current Opinion in Neurobiology. 40:178-188 doi: 10.1016/j.conb.2016.08.001 PMCID: PMC5312677 PDF
• Zhuang C, Kubilius J, Hartman MJZ, Yamins D (2017) Toward Goal-Driven Neural Network Models for the Rodent Whisker-Trigeminal System. Conference on Neural Information Processing Systems 2552-2562
• Abraham IA, Prabhakar A, Hartmann MJZ, Murphey TD (2017) Ergodic Exploration using Binary Sensing for Non-Parametric Shape Estimation. IEEE Robotics and Automation Letters 2(2):827-834 doi: 10.1109/LRA.2017.2654542 PDF SV
• Leung B, Pan Y, Schroeder C, Memik SO, Memik G and Hartmann MJZ (2008) Towards an 'early neural circuit simulator': a FPGA implementation of processing in the rat whisker system. 2008 International Conference on Field Programmable and Logic Applications, Vols 1 and 2 , Heidelberg, Germany 191-196. PDF

Patents

• U.S. Patent Application No. 16/102,364. "Processing methods and apparatus to manufacture a functional, multi-scale, tapered fiber from polymer filament." Collinson, David W., Mitra J. Hartmann, and L. Catherine Brinson.
• US 7,774,951; Sensing device with whisker elements; Mitra J. Hartmann and Joseph H. Solomon; August 17, 2010
• US 8,109,007; Object profile sensing; Mitra J. Hartmann, Christopher L. Schroeder and Joseph H. Solomon; February 17, 2012
• US 8,448,514; Sensing device with whisker elements; Mitra J. Hartmann and Joseph H. Solomon; May 28, 2013
• US 8,504,500; Systems, methods, and apparatus for reconstruction of 3-D object morphology, position, orientation and texture using an array of tactile sensors; Mitra J. Hartmann and Joseph H. Solomon; August 6, 2013